CN106249881A - Augmented reality view field space and virtual three-dimensional target dynamic method for registering - Google Patents
Augmented reality view field space and virtual three-dimensional target dynamic method for registering Download PDFInfo
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- CN106249881A CN106249881A CN201610582291.9A CN201610582291A CN106249881A CN 106249881 A CN106249881 A CN 106249881A CN 201610582291 A CN201610582291 A CN 201610582291A CN 106249881 A CN106249881 A CN 106249881A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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Abstract
The invention discloses a kind of augmented reality view field space and virtual three-dimensional target dynamic method for registering, comprise the following steps: obtain real scene information and camera location information；First the dummy object coordinate affine transformation to camera view plane is calculated according to the telltale mark in the positional information of camera and real scene by picture system, on view plane, dummy object is drawn according to affine transformation matrix, shown by optical perspective Helmet Mounted Display, obtain augmented reality system diagram picture；Image being carried out binarization segmentation, judges which partly belongs to environmental background according to the gamma characteristic of image after segmentation, which partly belongs to mark；Bianry image is done connected domain analysis, and the black-pixel region that search area is bigger in the picture determines mark view field；Mark view field extracts the point that Curvature varying is bigger, thus defines the shape of connected domain；The shape of connected domain is mapped with threedimensional model by picture system, draws the correct threedimensional model of marker.
Description
Technical field
The present invention relates to image processing field, particularly relate to a kind of augmented reality view field space and virtual three-dimensional target dynamic
Method for registering.
Background technology
In augmented reality system, the true environment that registration is primarily referred to as around dummy object and user that computer produces is complete
Alignment of orientation.Requiring that user maintains correct registration relation in the motor process of true environment, bigger registration error is not only
Make user can not confirm dummy object existence in true environment and integraty from sense organ, even can change user to week
The sensation in collarette border, serious registration error results even in full of prunes behavior.
Because above-mentioned defect, the design people, the most in addition research and innovation, empty to founding a kind of augmented reality visual field
Between and virtual three-dimensional target dynamic method for registering so that it is have more the value in industry.
Summary of the invention
For solving above-mentioned technical problem, it is an object of the invention to provide and a kind of ensure that correct registration relation, improve
The augmented reality view field space of registration accuracy and virtual three-dimensional target dynamic method for registering.
A kind of augmented reality view field space of present invention proposition and virtual three-dimensional target dynamic method for registering, its feature exists
In: comprise the following steps:
Step (1): obtain real scene information and camera location information；
Step (2): first counted according to the telltale mark in the positional information of camera and real scene by picture system
Calculate the dummy object coordinate affine transformation to camera view plane, then according to affine transformation matrix draws virtual object on view plane
Body, is finally directly shown by optical perspective Helmet Mounted Display, obtains augmented reality system diagram picture；
Step (3): the image showing optical perspective Helmet Mounted Display carries out binarization segmentation, according to image after segmentation
Gamma characteristic judges that in augmented reality system diagram picture, which partly belongs to environmental background, and which partly belongs to mark；
Step (4): bianry image is done connected domain analysis, by the black picture element that search area in bianry image is bigger
Region determines mark view field；
Step (5): the point that extraction Curvature varying is bigger in mark view field, thus the shape of explication connected domain
Shape；
Step (6): the shape of connected domain be mapped with threedimensional model in picture system, draws matching result, root
The correct threedimensional model of marker is drawn according to matching result.
Further, the mode obtaining real scene information and camera location information described in step (1) is by adopting
Light source and the image with geometric distribution is received, then by calculating acquisition information with camera head and light-sensitive device.
Further, calculating dummy object coordinate described in step (2) to the mode of the affine transformation of camera view plane is
The dummy object in real scene is selected by the three-dimensional coordinate position of spatial point.
Further, the binarization segmentation mode described in step (3) is to use histogram thresholding split-run.
Further, the connected domain analysis described in step (4) comprises the following steps:
Step (4.1): searching for black picture element from whole bianry image, search is from the beginning of the upper left corner of image, with line order
It is as the criterion and carries out successively；
Step (4.2): for a black picture element detected, be set to scan by its flag bit, and build with this
Territory is faced in the search of individual 3*3 big centered by pixel；
Step (4.3): the search built in previous step in a recursive manner searches black picture element, simultaneously basis in facing territory
Lookup result rebuilds search and faces territory；
Step (4.4): repeat above-mentioned recursive procedure until new black picture element cannot be obtained, and by these position phases
Adjacent black picture element includes same connected domain in；
Step (4.5): continue checking for the non-scanning element of the next one, search more connected region.
Further, the point extracting Curvature varying bigger described in step (5) is four curvature in each connected domain
The angle point changed greatly.
By such scheme, the present invention at least has the advantage that this augmented reality view field space and virtual three-dimensional target
Dynamic registration method ensure that correct registration relation, improves registration accuracy, improves the verity on user's sense organ.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, after describing in detail such as with presently preferred embodiments of the present invention below.
Detailed description of the invention
Below in conjunction with embodiment, the detailed description of the invention of the present invention is described in further detail.Following example are used for
The present invention is described, but is not limited to the scope of the present invention.
Embodiment: a kind of augmented reality view field space and virtual three-dimensional target dynamic method for registering, comprises the following steps:
Step (1): obtain real scene information and camera location information；
Step (2): first counted according to the telltale mark in the positional information of camera and real scene by picture system
Calculate the dummy object coordinate affine transformation to camera view plane, then according to affine transformation matrix draws virtual object on view plane
Body, is finally directly shown by optical perspective Helmet Mounted Display, obtains augmented reality system diagram picture；
Step (3): the image showing optical perspective Helmet Mounted Display carries out binarization segmentation, according to image after segmentation
Gamma characteristic judges that in augmented reality system diagram picture, which partly belongs to environmental background, and which partly belongs to mark；
Step (4): bianry image is done connected domain analysis, by the black picture element that search area in bianry image is bigger
Region determines mark view field；
Step (5): the point that extraction Curvature varying is bigger in mark view field, thus the shape of explication connected domain
Shape；
Step (6): the shape of connected domain be mapped with threedimensional model in picture system, draws matching result, root
The correct threedimensional model of marker is drawn according to matching result.
The mode obtaining real scene information and camera location information described in step (1) is by using camera head
And light-sensitive device receives light source and the image with geometric distribution, then by calculating acquisition information.
Calculating dummy object coordinate described in step (2) is to pass through spatial point to the mode of the affine transformation of camera view plane
Three-dimensional coordinate position select the dummy object in real scene.
Binarization segmentation mode described in step (3) is to use histogram thresholding split-run.
Connected domain analysis described in step (4) comprises the following steps:
Step (4.1): searching for black picture element from whole bianry image, search is from the beginning of the upper left corner of image, with line order
It is as the criterion and carries out successively；
Step (4.2): for a black picture element detected, be set to scan by its flag bit, and build with this
Territory is faced in the search of individual 3*3 big centered by pixel；
Step (4.3): the search built in previous step in a recursive manner searches black picture element, simultaneously basis in facing territory
Lookup result rebuilds search and faces territory；
Step (4.4): repeat above-mentioned recursive procedure until new black picture element cannot be obtained, and by these position phases
Adjacent black picture element includes same connected domain in；
Step (4.5): continue checking for the non-scanning element of the next one, search more connected region.
The point extracting Curvature varying bigger described in step (5) is that in each connected domain, four Curvature varying are bigger
Angle point.
The above is only the preferred embodiment of the present invention, is not limited to the present invention, it is noted that for this skill
For the those of ordinary skill in art field, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and
Modification, these improve and modification also should be regarded as protection scope of the present invention.
Claims (6)
1. an augmented reality view field space and virtual three-dimensional target dynamic method for registering, it is characterised in that: comprise the following steps:
Step (1): obtain real scene information and camera location information；
Step (2): first calculate void according to the telltale mark in the positional information of camera and real scene by picture system
Intend the object coordinates affine transformation to camera view plane, then according to affine transformation matrix draws dummy object on view plane,
Finally directly shown by optical perspective Helmet Mounted Display, obtain augmented reality system diagram picture；
Step (3): the image showing optical perspective Helmet Mounted Display carries out binarization segmentation, according to the gray scale of image after segmentation
Characteristic judges that in augmented reality system diagram picture, which partly belongs to environmental background, and which partly belongs to mark；
Step (4): bianry image is done connected domain analysis, by the black-pixel region that search area in bianry image is bigger
Determine mark view field；
Step (5): the point that extraction Curvature varying is bigger in mark view field, thus the shape of explication connected domain；
Step (6): in picture system, the shape of connected domain is mapped with threedimensional model, draws matching result, according to
Join result and draw the correct threedimensional model of marker.
Augmented reality view field space the most according to claim 1 and virtual three-dimensional target dynamic method for registering, its feature exists
In: the mode obtaining real scene information and camera location information described in step (1) is by using camera head and light
Sensing device receives light source and the image with geometric distribution, then by calculating acquisition information.
Augmented reality view field space the most according to claim 2 and virtual three-dimensional target dynamic method for registering, its feature exists
In: the mode of calculating dummy object coordinate described in step (2) to the affine transformation of camera view plane is three by spatial point
Dimension coordinate position selects the dummy object in real scene.
Augmented reality view field space the most according to claim 3 and virtual three-dimensional target dynamic method for registering, its feature exists
In: the binarization segmentation mode described in step (3) is to use histogram thresholding split-run.
Augmented reality view field space the most according to claim 4 and virtual three-dimensional target dynamic method for registering, its feature exists
In: the connected domain analysis described in step (4) comprises the following steps:
Step (4.1): search for black picture element from whole bianry image, search, from the beginning of the upper left corner of image, is as the criterion with line order
Carry out successively；
Step (4.2): for a black picture element detected, be set to scan by its flag bit, and build with this pixel
Centered by the search of individual 3*3 big face territory；
Step (4.3): the search built in previous step in a recursive manner searches black picture element in facing territory, simultaneously according to lookup
Result rebuilds search and faces territory；
Step (4.4): repeat above-mentioned recursive procedure until new black picture element cannot be obtained, and by adjacent for these positions
Black picture element includes same connected domain in；
Step (4.5): continue checking for the non-scanning element of the next one, search more connected region.
Augmented reality view field space the most according to claim 5 and virtual three-dimensional target dynamic method for registering, its feature exists
In: the point extracting Curvature varying bigger described in step (5) is the angle point that in each connected domain, four Curvature varying are bigger.
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| CN108762501A (en) * | 2018-05-23 | 2018-11-06 | 歌尔科技有限公司 | AR display methods, intelligent terminal, AR equipment and system |
| CN109085931A (en) * | 2018-07-25 | 2018-12-25 | 南京禹步信息科技有限公司 | A kind of interactive input method, device and storage medium that actual situation combines |
| CN109310476A (en) * | 2016-03-12 | 2019-02-05 | P·K·朗 | Apparatus and method for operation |
| CN109658523A (en) * | 2018-12-10 | 2019-04-19 | 西安小明出行新能源科技有限公司 | The method for realizing each function operation instruction of vehicle using the application of AR augmented reality |
| CN109685905A (en) * | 2017-10-18 | 2019-04-26 | 深圳市掌网科技股份有限公司 | Cell planning method and system based on augmented reality |
| CN109692487A (en) * | 2018-12-06 | 2019-04-30 | 安徽教育网络出版有限公司 | A kind of operating method of the augmented reality of Huangmei Opera |
| CN109840949A (en) * | 2017-11-29 | 2019-06-04 | 深圳市掌网科技股份有限公司 | Augmented reality image processing method and device based on optical alignment |
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| CN110097638A (en) * | 2018-01-31 | 2019-08-06 | 深圳市掌网科技股份有限公司 | Virtual object method for drafting and device based on combined tracking device |
| CN110120060A (en) * | 2018-02-06 | 2019-08-13 | 广东虚拟现实科技有限公司 | Recognition methods, device and the recognition and tracking system of marker |
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| CN108762501A (en) * | 2018-05-23 | 2018-11-06 | 歌尔科技有限公司 | AR display methods, intelligent terminal, AR equipment and system |
| CN109085931A (en) * | 2018-07-25 | 2018-12-25 | 南京禹步信息科技有限公司 | A kind of interactive input method, device and storage medium that actual situation combines |
| CN109692487A (en) * | 2018-12-06 | 2019-04-30 | 安徽教育网络出版有限公司 | A kind of operating method of the augmented reality of Huangmei Opera |
| CN109658523A (en) * | 2018-12-10 | 2019-04-19 | 西安小明出行新能源科技有限公司 | The method for realizing each function operation instruction of vehicle using the application of AR augmented reality |
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| CN110619674A (en) * | 2019-08-15 | 2019-12-27 | 重庆特斯联智慧科技股份有限公司 | Three-dimensional augmented reality equipment and method for accident and alarm scene restoration |
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| CN112651943A (en) * | 2020-12-28 | 2021-04-13 | 南京佗道医疗科技有限公司 | Three-dimensional image mark point extraction method |
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| CN113349928A (en) * | 2021-05-20 | 2021-09-07 | 清华大学 | Augmented reality surgical navigation device and method for flexible instrument |
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